Method and apparatus for making a virtual movie for use in exploring a site

ABSTRACT

Methods, systems, and computer storage mediums are disclosed for producing an interactive virtual movie which simulates the walking of a user within a real site and exploring the same. An example method includes defining minimal conditions for the capturing a new photograph. A photograph is captured each time the apparatus exceeds one of the predefined minimal conditions, wherein the measurements of the variables is reset after each capturing. The method also includes forming open chains of photographs captured during a common route photographing session, and closed chains of photographs captured during a common junction photographing. For each photograph in a closed chain that relates to a junction, a corresponding similar photograph form an open chain is found and a link is formed between them.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a Continuation of U.S. patent application Ser. No.12/160,050, with a §371(c) date of Oct. 14, 2008, now allowed. Thisapplication claims priority to and the benefit of PCT/IL2007/000012,filed on Jan. 4, 2007. This application also claims priority to and thebenefit of Israeli Patent Application No. 172995, filed Jan. 5, 2006.Each of these applications is hereby incorporated by reference in itsentirety.

FIELD

The field of the invention relates to systems and methods for thepreparation of interactive movies. More particularly, the inventionrelates to a method and system for producing an interactive movie, whichis made particularly for the purpose of enabling a user to virtuallynavigate within a physical site, such as a building, office, etc.

BACKGROUND

Virtual movies are widely used for a variety of purposes, such asexhibitions, remote guidance and touring of places, education, training,electronic games, etc. Some of such movies are animated, and some othersare real, in the sense of involving real frames that are photographedwithin a real, physical site. The present invention relates to thelatter case; i.e., where the preparation of a virtual and interactivemovie enables a user to explore a real site.

For example, there are some cases in which it is desired to allow a userto watch a movie of a site, and navigate interactively within the site.More particularly, it is desired to have an interactive movie enablingthe user to navigate within the site, i.e., simulating the walking toany possible direction he selects, while continuously watching actualimages of the site. In some cases, the actual images may optionally becombined with computer-generated images relating to interactive ornon-interactive events or objects.

In another, more particular example, it is desired to provide a virtualinteractive movie for training individuals and to familiarize them witha specific site, while providing them with essential and comprehensiveinformation about the site such as its layout, its appearance, locationof rooms and equipment therein. Moreover, it could be beneficial tocombine some simulations in the movie; e.g., a fire when training themhow to deal with some emergency procedures. In another example, it isdesired to provide possible real estate customers the ability toremotely and interactively navigate and explore real estate sites forsale. In still another example, it is desired to provide possibletourists the ability of exploring a hotel, before ordering theaccommodation.

The preparation of a virtual, interactive movie which enables navigationwithin a site according to the typical prior art teachings is generallya very complicated task, and it involves a substantial effort, requiringprofessional and lengthy filming and editing. Also, the results aregenerally not particularly satisfactory, being far from providing to theuser a real feeling.

WO 2004/049263 by same applicant filed on Nov. 24, 2003, the content ofwhich is fully incorporated by reference, and which seems to be thecloses prior art, discloses a system and method for virtual walkthrough.This application teaches the preparation of a virtual movie whichsimulates the walking of a user within a real site, in an essentiallyautomatic manner. The method of WO 2004/049263 involves the followingsteps: (a) Defining first minimal conditions for the creation of a newnode; (b) Defining second minimal conditions for linking between nodes;(c) Moving a scanning apparatus along routes within the site, measuringthe x,y, displacement coordinates, and angular orientation of thescanning apparatus at any given time, and creating a new node at leastwhenever such first minimal conditions are met; (d) Obtaining an imagedata at each node location reflecting a camera unit field of view, andassociating the said image data and its orientation with the x,y,location coordinates of the present node; (e) Finding and registeringneighborhood links between pairs of nodes to generally create chains ofnodes, each link assignment connecting between any two nodes satisfiesat least said second minimal conditions required for linking betweennodes, wherein more than one link may be assigned to a node; and (f)Further associating and registering with each created link an exitangular orientation from a first node in the pair and entry angularorientation to the second node in the pair. WO 2004/049263 suggests thatthe satisfying of any one of the conditions included in said firstminimal conditions will result in the creation of a new node.

In one option, WO 2004/049263 suggests that one of said first minimalconditions is a maximal predefined displacement D between two nodessampled by the apparatus.

In one option, WO 2004/049263 also suggests that one of said firstminimal conditions is a maximal predefined allowed angular change δ° inthe orientation of the apparatus after leaving a node.

In one option, the method of WO 2004/049263 further comprises theelimination or merging of nodes when some third conditions are met;

In one option of the method of WO 2004/049263, said third conditionscomprise closeness of nodes below a predefined distance d.

In one option of the method of WO 2004/049263, each image data comprisesa plurality of frames, and wherein each frame angular orientation isalso registered.

In one option of the method of WO 2004/049263, the interactive virtualmovie comprises: (a) A plurality of nodes; (b) Links connecting betweennodes, wherein with each link between two nodes is associated with anexit angular indication from one node, and an entry angular indicationto the other node, plurality of links may be associated with one node;(c) Image data reflecting a camera unit field of view for each node, andorientation indications for said image data.

In one option of the method of WO 2004/049263, the display of the moviecomprises the steps of: (a) Providing to the user with means forselecting, turning, and advancing; (b) Displaying to the user a selecteduser field of view within the image data of a node; (c) When the userturns to a specific direction, displaying to the user the user field ofview portion of the image data which corresponds to said specificdirection; (d) When the user directs to one of the exit directions ofthe present node, and chooses to advance: displaying to the user aportion of the image data of the next node linked to said present nodeby said exit direction, said displayed portion of the image datacorresponds to the entry direction associated with said link. (e) Whenthe user selecting a node other than the present node, displaying to hima user field of view portion of the image data of said other node.

WO 2004/049263 also discloses an apparatus for producing an interactivevirtual movie, which simulates the walking of a user within a real site,said apparatus comprises: (a) A movable platform; (b) Position andorientation unit for obtaining at any given time position andorientation of the platform, and providing the same to an imaging unit;(c) Imaging units for creating a node any time when some first minimalconditions are met, obtaining image data, and associating said imagedata and its orientation with the node location, thereby forming a nodepackage; (d) Data unit for: (1) receiving node packages from the imagingunit; (2) calculating neighborhood between nodes; (3) registering linksbetween found neighboring nodes, including registering for each linkentry and exit directions to and from nodes; (4) calculating possiblemerging and/or eliminating of nodes; (5) saving in a database within thedata unit a linked graph which is the result of steps 1-4; (6) importinglinked graph/s from removable media or network device to the database;and (7) exporting linked graph/s from the database to a removable mediaor a network device. (e) A control unit for: (1) Activation anddeactivation of the device; (2) Defining parameters necessary for theoperation of the apparatus; (3) Providing control over the import andexport operations.

In one option of the apparatus of WO 2004/049263, the data unit islocated on the movable platform. Alternatively, the data unit may belocated away from the platform.

It is one object of the present invention to provide a method and systemwhich significantly simplify the preparation of such virtual andinteractive movies which simulate the navigation of a user within a realsite.

It is another object of the present invention to enable automation of atleast a significant part of the preparation of such virtual andinteractive movies.

It is still another object of the present invention to enable theproduction of such a virtual by moving a scanning apparatus within thesite, without accuracy constraints and orientation measurements asgenerally required and preferable by the method and apparatus of WO2004/049263.

It is still another object of the present invention to provide a muchsimplified scanning apparatus in comparison with the apparatus of WO2004/049263, for the cost of some more manual editing work of the movie.

It is still another object of the present invention to provide a linked,graph-based representation of the virtual-interactive movie, which ismade from a collection of photographs that are captured by the apparatusof the invention, and are manually or automatically connected to form avirtual movie.

Other objects and advantages of the invention will become apparent asthe description proceeds.

SUMMARY

The present invention relates to a method for producing an interactivevirtual movie, which simulates the walking of a user within a real siteand exploring the same, which comprises: (a) providing a scanningapparatus which comprises a camera, means for measuring the displacementof the apparatus relative to the site floor, and means for measuring thechange of the camera field of view direction with respect to theapparatus; (b) defining minimal conditions for the capturing of a newphotograph, wherein said minimal conditions comprise one or more of: (i)displacement of the apparatus by a distance D; (ii) change of theapparatus orientation by an angle Δ°; or (iii) change of the orientationof the camera with respect to the apparatus by an angle of δ°; (c) Usinga scanning apparatus, photographing the site in two photographing modes:c.1. sequential route photographing by moving the scanning apparatusalong a route, determining the values of D and Δ°, and capturing aphotograph each time the apparatus exceeds one of said predefinedminimal conditions, wherein the measurements of said variables beingreset after each of said capturing; and c.2. sequential junctionphotographing in which the apparatus is stationary, and the camera isrotated about an axis essentially perpendicular to the ground, and itcaptures a photograph every δ°; (d) Storing the captured photographs;(e) Forming open chains, each open chain comprising those photographscaptured during a common route photographing session, and each openchain further having a first and last photograph; (f) Forming closedchains, each closed chain comprising those photographs captured during acommon junction photographing; and (g) For each of those first and lastphotographs of open chains that were captured adjacent to a junction,finding, from among the closed chain photographs relating to saidjunction, a corresponding similar photograph meeting one of the criteriaof highest correlation or having the closest field of view direction,and connecting between them. Upon completion of all said closed-openchain connections, the virtual movie is ready.

Preferably, some of the first and/or last photographs of open chains areleft unconnected to closed chains.

Preferably, there are some closed chains in which none of thephotographs are connected to open chain photographs.

Preferably, the step of finding and connecting is performedautomatically.

Preferably, the step of finding and connecting is performed manually.

Preferably, the step of finding and connecting is performed partiallyautomatically and partially manually.

Preferably, the photographs are sequentially indexed during thephotographing stage, and wherein said indexing being used in order tosimplify the finding-connecting step.

Preferably, the scanning apparatus uses a 360° camera, wherein only openchains are formed, and wherein a photograph in any open chain may beconnected to more than one photograph of another open chain.

The invention also relates to a movable scanning apparatus for producingan interactive virtual movie, which simulates the walking of a userwithin a real site and exploring the same, which comprises: (a) Asupporting platform; (b) a camera which is mounted on and rotatable withrespect to said platform; (c) displacement measuring means for measuringthe displacement of the apparatus; (d) angular measuring means formeasuring the angular rotation of the camera about an axis essentiallyperpendicular to the floor; and (e) controller for receiving saiddisplacement measurements and angular measurements, and for producing atrigger to said camera to capture a photograph each time said apparatusdisplaces a distance above a predefined distance D, and/or each timesaid camera being rotated by an angle greater than δ°.

Preferably, the platform is provided with wheels, and the displacementmeasurements are based on measuring the rotation of the wheels.

Preferably, the rotation of the wheels is measured by means of anencoder.

Preferably, the platform has the form of a tri-pod.

Preferably, the angular rotation of the camera being measured by meansof an encoder.

Preferably, the apparatus further comprises means for determining thechange of orientation of the apparatus, and for producing a trigger bysaid controller to said camera to capture a photograph each time saidapparatus changes its orientation by more than a predefined value of Δ°.

Preferably, the field of view direction and the accumulated x,y locationof the apparatus are determined by said controller, and are associatedcorrespondingly with each captured photograph.

Preferably, the photographs are stored in the camera.

Preferably, the photographs are immediately conveyed to the controllerand stored within the controller.

Preferably, the photographs are captured at a high rate by the camerairrespective of the platform displacement, and the trigger is internalwithin the controller determining which of the photographs to save.

Preferably, the photographs are indexed at the time of capturing, andthe index is associated with the corresponding photograph.

Preferably, the apparatus further comprises a GUI for operating theapparatus.

The invention also relates to a kit for forming the said apparatus,which comprises: (a) a supporting plate with wheels, said plate havingmeans for accepting the bottom of legs of a conventional camera tripod;(b) a controller as stated for the apparatus above; (c) displacementmeasurement means on the wheels for performing displacement measurement;(d) a camera base for mechanically joining into the camera standardcamera pedestal of the tripod, said base having a stationary portionwhich is joined into said camera pedestal and a rotatable portion havingmeans for joining the camera; (e) angular measurement means, formeasuring the angular displacement of said second base portion withrespect to said first base portion; and (f) electric cables forconnecting respectively between said various measurement means and thecontroller, between the camera and the controller, and betweencontroller and a GUI.

Preferably, the displacement measurement means and the angulardisplacement measurement means are encoders.

Preferably, the supporting structure is a human being.

Preferably, the camera field of view is up to 360°.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 schematically illustrates the basic structure of a simplifiedscanning apparatus 1 according to a first embodiment of the presentinvention;

FIG. 2 shows an exemplary scheme of an office having two corridors (C1,C2) and two rooms (A, B);

FIG. 3 illustrates a plurality of points along the route in which thescanning (filming) process is performed;

FIG. 4 shows a general scheme by which a section of an office of FIG. 3is filmed;

FIG. 5 shows a kit adapted for a standard tri-pod and a standard camera,for carrying out the filming of the virtual movie according to anembodiment of the invention.

FIG. 6 illustrates an embodiment of base 600, having a guiding assistingmeans; and

FIG. 7 describes still another embodiment of the scanning apparatusaccording to the present invention.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

As said, WO 2004/049263 provides a system for the preparation of avirtual movie. The system comprises a movable transform which is movedwithin the site. Each time the platform makes a displacement above aminimal distance D, or changes its orientation by an angle above angleΔ° a photograph is captured. Moreover, each time a rotation of thecamera about the platform above angle δ° is performed, a photograph iscaptured. Several parameters which include at least the x;y of theplatform within the site and the orientation (direction angle in °) inwhich the photograph was captured are associated with each photograph,which is stored in a memory storage. Then, after capturing all theimages, the system of WO 2004/049263 can process all the data in orderto automatically produce a virtual movie.

The system of WO 2004/049263 can prepare a movie in a relatively fast,automatic, accurate, and professional manner. However, the system of WO2004/049263 is quite complicated and expensive, as it requiresrelatively complicated software and a strong processor. The inventors ofthe present invention have found that for the “cost” of slightly moremanual editing time, a less professional virtual movie can be preparedby a much simpler and significantly cheaper system. The presentinvention illustrates the structure of this simplified system, andprovides a method of operating the same.

FIG. 1 schematically illustrates the basic structure of a simplifiedscanning apparatus 1 according to one embodiment of the presentinvention. The apparatus basically comprises of a camera 2, and tri-pod3 on which the camera is installed. Each of the tri-pod branches 3 a, 3b, and 3 c is mounted on a corresponding wheel, 4, enabling the mobilityof the tri-pod. The branches 3 a, 3 b, and 3 c, of tri-pod 3 comprise attheir bottom displacement encoders 10 a, 10 b, and 10 c, for measuringthe angular rotation of each wheel. The corresponding wheel angularrotation measurements are then conveyed to controller 5 viacorresponding cables 8 a-8 c. Tri-pod 3 also comprises a camera base 6,which according to this specific embodiment comprises two portions, afirst portion 6 a which is stationary with respect to the tri-pod, and asecond base portion which is rotatable with respect to said firstportion. Said second portion also has a fixed rod 7 thr accepting thecamera 2. The angular Said second portion also has a handle enablingrotation of the camera about a central axis z which is essentiallyperpendicular to the ground. The angular rotation of said second portion6 b (and the camera) with respect to said first portion 6 a is measuredby encoder 9. The measurement of angular encoder 9 is also conveyed tocontroller 5. The scanning apparatus also optionally comprises a controlpanel 11 for the user, for activating or deactivating the scanningapparatus, for providing set-up values, and for providing commands tothe apparatus.

Before the operation of the scanning apparatus, the user defines withincontroller 5 a set of minimal condition for the capturing of aphotograph by the camera. Such minimal conditions include at leastminimal displacement of tri-pod 3, and minimal angular rotation ofcamera 2 about central axis x. Controller 5 which receives inputs 8 a-8c from the displacement encoders 10 a-10 c and input 19 from the angularencoder 9 initiates a trigger 14 to camera 2, which in turn captures aphotograph.

FIG. 2 shows an exemplary scheme of an office 10 having two corridors(C1, C2) and two rooms (A, B). An object of the present invention is toproduce a virtual movie enabling a user to navigate, i.e., to “walk”around the office. As seen, while beginning at point 11, the user walksup to junction J1, in which he may either turn right into room B orcontinue straight ahead. Similarly, when arriving at junction J2, theuser may either turn right into room A or go straight ahead alongcorridor C1. When arriving at junction J3, the user may either turn tothe right or to the left within corridor C2. Moreover, while walkingalong the corridor the user generally needs to have a relatively limitedfield of view. In junctions J1, J2, and J3 the user needs a wider fieldof view, and in rooms A and B he generally needs a field of view of360°. For example, in junction J1 the user may select to continue alongthe corridor and view up to the end of the corridor, or he may selectturning into room B and see the view of room B, or he may even in somecases decide to turn back and return along the corridor C1.

According to the present invention the office is filmed by means of ascanning apparatus 1 which can take photographs in up to a 360° field ofview. The scanning apparatus is moved forward along the route, whilecapturing photographs in a relevant field of view, from filming spots.For example, the scanning apparatus may capture images every distance of10 cm.

The plurality of points along the route in which the scanning (filming)process is performed are indicated in FIG. 3 as nodes 133. The nodes133, schematically indicate in each specific node location the manner ofscanning at that point, and may provide other parameters that arespecific to this node.

Before the filming stage, a general plan is made regarding the routesalong which the filming will be made. Along the planned routes, thenodes are created when the scanning apparatus passes a predefineddistance D, which may be, for example, every 5-50 cm, or changes itsangular orientation by a predefined angle Δ° (for example 5°). Moreover,in junction points where the apparatus is stationary, nodes are createdupon a change of the camera field of view direction (i.e., the center ofthe camera field of view) above δ° with respect to the apparatus.

After generally planning the routes, said distance D between nodes, andsaid two parameters relating to the change in angular orientation Δ° andδ° are defined. It should be noted that measurement of distance D, forthe sake of convenience, refers herein to the displacement of the centerof the apparatus 1. However, distance D may be measured relative to anyother defined point of the apparatus. As apparatus 1 has several wheels,the controller 5 translates the displacements as measured from thediscrete wheels, and calculates the displacement D of the center of theapparatus.

FIG. 4 shows a general scheme by which the section of the office whichis marked by dotted line 124 (in FIG. 3) is filmed. In principle, twotypes (modes) of filming exist. A “ring filming” is one in which theapparatus is stationary, the camera is rotated about central axis z, andphotographs are captured every δ° of angular rotation of the camerarelative to the apparatus. A second type of filming is the “routefilming” in which the camera is directed toward the front of theapparatus, the apparatus moves along a route, and photographs arecaptured each time the apparatus passes a distance above D as defined,or when the apparatus orientation changes above angle Δ°. It should benoted that the verification of δ°, D, and Δ°, is reset each time aphotograph is captured.

In one embodiment of the present invention the camera 2 is a stillcamera having a field of view of, for example, 60°. In operation, thescanning apparatus 1 is initially positioned at a starting point, forexample point A of FIG. 4. In the example of FIG. 4, point A is ajunction point, and the camera is rotated about axle x, and therefore itcaptures a photograph every δ° in a “ring filming” manner. For example,the camera 2 may be rotated 360°, and may create 72 photographs(assuming δ° is defined as 5°). In FIG. 4 fewer photographs are shown inthe junction points for the sake of brevity; for example photographs 240to 247 are captured in junction A. Next, the scanning apparatus 1 ispushed along the corridor. Each time the controller 5 detects adisplacement of the apparatus above a distance D, as predefined, atrigger 14 is initiated by the controller to the camera 2 to capture aphotograph. In such a manner, upon moving from junction A to junction B,photographs 150 to 156 are captured in a “route filming” manner. Then,junction B is filmed in a “ring filming” manner similar to the manner ascarried in junction A and will result in photographs 260-267. Fromjunction B the filming may continue along the route up to junction Cfilming photographs 190 to 197, again in a “route filming” manner. Then,junction C, which includes photographs 250 to 257 is filmed in a “ringfilming” manner Upon completion of junction C, the filming may continuein the reverse direction, filming first the sequence of photographs 200to 207, and then the sequence of photographs 210 to 216.

During the filming process, the captured photographs are stored, andpreferably indexed for the sake of convenience. Upon completion of thefilming process, the stored collection of photographs contains severalroute photograph sequences, and several ring photograph sequences. Next,the captured photographs need to be separated into chains. A chain is asequence of photographs wherein, for which photograph in the sequence,there is a definition of a previous photograph in the sequence and anext photograph in the sequence. An open chain is a chain in which twophotographs (also referred to herein as “first photograph” and “lastphotograph” respectively) have only one connection to a next or previousphotograph respectively. A special type of an open chain is a “chain” ofa single photograph which does not have a definition for a previous ornext photograph, as it performs as both a “first photograph” and as a“last photograph” in the chain. A closed chain is a sequence in whicheach and every photograph in the sequence has exactly two connections toboth previous photograph and to next photograph. Therefore, it is clearthat those sequence photographs which were captured in a specificjunction (for example photographs 240-247 captured in junction A) form aclosed chain, and those photographs that were captured along a route(for example photographs 150-156) form an open chain.

The separation of the collection of the captured photographs into chainsmay be made in several ways, for example:

-   -   a. The indexed way: Assuming that the photographs are        sequentially indexed, during the filming process the first and        last indexes of each sequence are recorded (manually or        automatically) together with the sequence type. Then, the        connection between the chain photographs (previous and next) is        trivial, as it is directly evolved from the sequential order of        the filming. In the case of a ring filming, the closed chain is        formed by defining that the last photograph in the sequence is        the previous photograph to the first photograph in sequence and        vice versa that the first photograph in the sequence is the next        photograph to the last photograph in sequence. This is the        preferable way which enables most convenient way of separation.    -   b. The non-indexed way: In the case that the photographs are not        indexed during the filming, the separation into chains may be        made visually or by applying image processing algorithms. The        final result of the processing is essentially the same as in the        above indexed way; however, the non-indexed process is generally        less efficient.

Having made the separation into chains, there are now several of openchains each containing photographs that are captured along a commonroute and several closed chains, each containing photographs that arecaptured in a common junction. In order to produce a continuous movie,the separate chains have to be connected. In general, the last and/orfirst photograph of each open chain has to be connected to a singlephotograph of a corresponding closed chain. For example, and referringto FIG. 4, the first photograph 150 of the open chain comprisingphotographs 150-156 (hereinafter, and for the sake of brevity the chainwill be referred to as “chain 150-156”) has to be connected to one ofthe photographs of closed chain 240-247. As a general rule, the selectedphotograph from chain 240-247 that is connected to photograph 150 is theone having the most similarity, i.e., the highest correlation withphotograph 150, or having the closest field of view direction. In somecases, a combination between said two considerations may be made(hereinafter, a case which satisfies said one or two considerations willbe referred herein as “best mach”). The best match is desirous in orderto ensure a “smooth” view of the movie, particularly when the viewertransfers between a specific end photograph of the open chain to theclosed chain photograph connected to it, or vice versa. Therefore, inthe case of FIG. 4 it can be seen that photograph 244 of chain 240-247has the best match with the first photograph 150 of chain 150-156, asboth “look” to almost the same direction (12 o'clock direction in thescheme). Likewise, photograph 240 of chain 240-247 has the best matchwith the last photograph 216 of chain 210-216. Therefore, a connectionis made between photograph 244 and photograph 150, and betweenphotograph 216 and photograph 240 in order to form a continuous andsmooth section of the movie. Likewise, for the same considerationsphotograph 197 is connected to photograph 257 (both “looking”essentially to 3 o'clock direction), and photograph 253 to photograph200 both “looking” essentially to 9 o'clock direction). In a similarmanner all the separate chains are connected to form a continuous andfull virtual movie in which the user can navigate. It should be notedthat the movie may include stand-alone chains, i.e., chains that aretotally separated from all other chains.

The connection between chains as discussed above can be performed, forexample, in three optional ways:

-   -   a. Manual: As there is a limited number of end photographs        (i.e., first and/or last photographs that have to be        correspondingly connected to photographs of closed chains) this        task can be performed manually. In that case, the editor of the        movie who wishes to connect an end photograph can relatively        easily find the desired photograph from the relevant (candidate)        closed chain in a visual manner and make the connection        accordingly. For example, with reference to FIG. 4, the user may        display on the right side of his screen the end photograph 150,        and on the left side of the screen he may alternately replace        all photographs of junction A (i.e., of closed chain 240-247),        in order to find among them the best match photograph according        to his best intuition (that most probably will result in        selecting photograph 244, which satisfies said best mach        criteria).    -   b. Automatic: The same task can also be performed automatically        by means of a correlator. Having a given end photograph of a        chain, and an adjacent close chain containing a plurality of        photographs, the correlator looks for the one photograph in the        closed chain having the highest correlation with said given        photograph, and makes the connection accordingly. Furthermore,        when optionally the x;y coordinates of the site where each        photograph has been captured, and even more preferably also the        field of view direction for each photograph are recorded, using        this data may even further simplify the automation of the        process (however, as said this may complicate the system). This        automatic procedure may be performed in real time during the        filming, or immediately after filming the movie photographs.    -   c. A mixed automatic and manual: Some parts of the movie editing        may be performed manually in a visual manner, and other part        automatically by means of a correlator.

The above description has mentioned that each end photograph of an openchain is connected to one photograph of a closed chain. This rule isgenerally correct for cases where a conventional camera is used. Anexception case is where a 360° field of view camera is used. In thatcase the apparatus produces only open chains, and there may bephotographs of open chains that are connected to several otherphotographs, each belonging to another corresponding chain. Theconnection between the photographs may be performed by one of the threeways described above.

As said, the invention assumes that the virtual movie is a collection ofphotographs, some of which are captured along routes and others injunctions of a physical site. This is translated in the presentinvention to a linked graph of photographs in which each photographrepresents a specific field of view as seen from a specific location inthe site. The links between photographs allow virtual movement from onephotograph to another in a smooth manner.

As said above, in one embodiment of the invention, a tri-pod 3 withwheels is used for supporting the camera and the associated systemcomponents. It should be noted that the supporting apparatus does notnecessarily have the form of a tri-pod, but it may have other forms, aslong as the x;y displacement of the wheels of the apparatus is measuredand provided to controller 5 for determining when to initiate a trigger14 for capturing a new photograph.

FIG. 5 shows a kit 601 adapted for a standard tri-pod and a standardcamera, for carrying out the filming of the virtual movie according toan embodiment of the invention. The system which includes the kit formsessentially the same system of FIG. 1, and therefore components havingsimilar numbers perform a similar function as in FIG. 1. A standardtri-pod 603 is mounted on a triangular base 600 in a fixed position. Thebase 600 includes the wheels 604 and encoders 610 a-610 c for measuringthe displacement of the wheels, and provides the displacementindications to controller 605. The controller is preferably mounted onthe base 600. The kit also comprises a camera orientation adapter 606,which is mounted on top of standard tri-pod 603, essentially in the samemanner that a conventional camera is generally mounted. The adapteressentially mechanically buffers between tri-pod 603 and camera 602 orin some cases between tri-pod 603 and a tri-pod head (not shown) onwhich the camera 602 is mounted. The adapter preferably comprises twoportions, a first portion 606 a which is stationary with respect to thetri-pod 603, and a second portion 606 b which is rotatable with respectto said first portion, for example by means of handle 675. The adapterfurther comprises an orientation encoder 609, which measures therelative angular displacement of said second portion 606 b with respectto said first (stationary) portion 606 a. The camera 602 is stationarywith respect to said second portion 606 b, and therefore any angularrotation of the second portion rotates also the camera 602. The rate ofrotation is measured by encoder 609 and conveyed to controller 605. Thekit also comprises control panel 611 having the functionalityessentially the same as of control panel 11 of FIG. 1. The controller605 provides triggers 614 to camera 602, essentially the same asdescribed with respect to FIG. 1. The kit may also include a battery (noshown), which may also be mounted on base 600.

FIG. 6 illustrates an embodiment of base 600, having a guiding assistingmeans. It has been found that in order to locate the center of theapparatus (or any other predefined point) at a specific locationrelative to the floor, or in order to guide the apparatus along aguiding line marked on the floor, the adding of guiding means 681 ispreferable. Guiding means 681 is positioned perpendicular to side 683,preferably extends therefrom, and ends at the center 693 of theapparatus below base 600. Side 683 is the side which is perpendicular tothe apparatus progression direction 687. The central portion 684 of base600 is hollow, such that the user can view the floor and the center ofthe apparatus 693 relative to the floor. Furthermore, the user can alsoview the front 689 of same guiding means 681 relative to the floor. Theguiding means 681 may be, for example, a straight rod which ispositioned perpendicular to side 683, or a laser mark, forming astraight illuminated line on the floor, the first end 693 of which marksthe center (or any other predefined point) of the apparatus, and thesecond end of which extends from side 683 and marks the directionperpendicular to side 683 of base 600. In one embodiment, only thecentral point 693 may be marked relative to the floor, for example bymeans of a laser marker, or any other conventional means.

It should be also noted the apparatus may also comprise conventionalmeans (such as a handle) for pushing the apparatus. Alternatively, theapparatus may be provided with a driving motor for moving the apparatus,which may be controlled by means of a remote control. Furthermore, therotation of camera 602 about axis z may also be motorized and controlledby means of a remote control. Also, it should also be noted that thecontroller may be replaced by a computer of any type, and that this mayalso comprise a means for playback of the captured photographs, and/orof the virtual movie.

FIG. 7 describes still another embodiment of the invention. While in theprevious embodiments the captured images were stored in the camera 2,according to the embodiment of FIG. 7 the images are simultaneouslyconveyed via line 931 to the controller 905 and stored there. Thecontroller 905 of this embodiment may be, for example, a computer of anytype. In one embodiment, the camera 902 is a video camera, whichcontinuously conveys images to the controller. The controller 905 inturn produces an internal trigger (not shown) which determines andselects the images among all those that are captured that are finallystored. The internal trigger is issued essentially according to the samecriteria as of trigger 14 of the embodiment of FIG. 1. The remainingimages are ignored. In still another embodiment, the camera 902 is astill camera, and the trigger 914 initiates capturing of an image (asbefore). In contrast to the embodiment of FIG. 1 where the images werestored in camera 2, the images of the embodiment of FIG. 7 areimmediately conveyed via line 931 to the controller (or computer) 905and stored there.

The embodiments of the invention which have been described so far haveused encoders for determining the displacement of the apparatus and theangular change of the camera. This type of measurement has been givenonly as an example, as the apparatus displacement and the angular changemay be measured in other ways known in the art. For example, thedisplacement may be measured in a manner as described inPCT/IL2005/001105. Alternatively the displacement measurement may bemade by means of a radio based Indoor positioning systems as described,for example, in GRIPS Generic Based Indoor Positioning Systems, Magedanzet. al.,http://www.fokus.gmd.de/bereichsseiten/kompetenzzentrum/meteor/themen/lokalisierung/28_GRIPS_PAPER_WPNC_Fraunhofer_FOKUS_FINAL_formated.pdf.In the latter case, there is even no need for any structure with wheelsfor moving the apparatus. In that case, the whole system portions may becarried by a person, while the radio or other displacement measurementsinitiate triggers to the camera. The camera is preferably a 360° camera,or a camera that can rotate 360°.

As disclosed in WO2004/049263, the field of view of the camera CFOV(i.e., the field of view of the photograph) may be larger than the UFOV;i.e., the field of view that is displayed to the user. In that case, theUFOV has to be predefined, and the entry and exit angles need also to bedefined for each photograph. The definition of the entry and exit anglesmay be made either manually or automatically for each pair ofphotographs. In order to enable automation in defining the entry andexit angles, it is preferable that the apparatus associates anorientation measurement indicating the field of view direction in whicheach photograph has been captured.

While some embodiments of the invention have been described by way ofillustration, it will be apparent that the invention can be put intopractice with many modifications, variations and adaptations, and withthe use of numerous equivalents or alternative solutions that are withinthe scope of persons skilled in the art, without departing from thespirit of the invention or exceeding the scope of the claims.

What is claimed is:
 1. A computer-implemented method for compiling aninteractive virtual movie that simulates a user traversing and exploringa physical site comprising: receiving a first collection of photographs,each photograph in the collection of photographs acquired throughsequential route photography, wherein the sequential route photographyincludes moving a camera along a route, determining a camera position ora camera orientation angle for each photograph that each reset todefault values upon capture of each photograph, capturing eachphotograph at least when the camera position exceeds a predefineddistance value or the apparatus orientation angle exceeds a predefinedorientation value, and sequentially indexing each photograph upon beingcaptured; forming one or more open chains using the first collection ofphotographs acquired through sequential route photography, each openchain linking the photographs that were captured as the camera movedalong a common route; receiving a second collection of photographs, eachphotograph in the collection of photographs acquired through sequentialjunction photography, wherein sequential junction photography includesrotating a camera about a stationary physical location, determining afield of view angle for each photograph as the camera is rotated aboutthe stationary physical location, capturing each photograph at leastwhen the field of view angle exceeds a predefined rotation value, andsequentially indexing each photograph upon being captured; forming oneor more closed chains using the second collection of photographsacquired through sequential junction photography, each closed chainlinking the photographs that were captured while the camera rotatedabout a common physical location; and compiling the interactive virtualmovie by linking one or more open chains to one or more closed chainsincluding determining, from among the photographs in each closed chain,a corresponding similar photograph in an open chain that meets one of acorrelation criteria including highest correlation or closest field ofview direction.
 2. The computer-implemented method of claim 1, whereineach photograph is associated with an index value that is sequentiallyassigned at the time of capture, and wherein each open chain and eachclosed chain is formed, at least in part, based on the index valueassociated with each photograph.
 3. The computer-implemented method ofclaim 1, wherein the first collection of photographs and the secondcollection of photographs are received in combined collection ofphotographs.
 4. The computer-implemented method of claim 1, wherein thecamera is mounted to a movable scanning apparatus, the movable scanningapparatus including a means for determining the camera's position, ameans for determining the camera's orientation angle, and a means fordetermining the camera's field of view angle.
 5. Thecomputer-implemented method of claim 1, further comprising: combiningthe photographs of each closed chain to produce a single photographhaving a field of view up to and including 360 degrees, wherein at leastone closed chain is replaced by its corresponding single photograph. 6.The computer-implemented method of claim 1, wherein each photograph hasa 360 degree field of view.
 7. A computing device for compiling aninteractive virtual movie that simulates a user traversing and exploringa physical site, the virtual movie compiled by linking photographscaptured by a camera, the computing device comprising: a storage unitconfigured to: receive a first collection of photographs, eachphotograph in the collection of photographs acquired through sequentialroute photography, wherein the sequential route photography includesmoving the camera along a route, determining a camera position or acamera orientation angle for each photograph that each reset to defaultvalues upon capture of each photograph, capturing each photograph atleast when the camera position exceeds a predefined distance value orthe apparatus orientation angle exceeds a predefined orientation value,and sequentially indexing each photograph upon being captured; andreceive a second collection of photographs, each photograph in thecollection of photographs acquired through sequential junctionphotography, wherein sequential junction photography includes rotating acamera about a stationary physical location, determining a field of viewangle for each photograph as the camera is rotated about the stationaryphysical location, capturing each photograph at least when the field ofview angle exceeds a predefined rotation value, and sequentiallyindexing each photograph upon being captured; and a controllerconfigured to: form one or more open chains using the first collectionof photographs acquired through sequential route photography, each openchain linking the photographs that were captured as the camera movedalong a common route; form one or more closed chains using the secondcollection of photographs acquired through sequential junctionphotography, each closed chain linking the photographs that werecaptured while the camera rotated about a common physical location; andcompile the interactive virtual movie by linking one or more open chainsto one or more closed chains including determining, from among thephotographs in each closed chain, a corresponding similar photograph inan open chain that meets one of a correlation criteria including highestcorrelation or closest field of view direction.
 8. The computing deviceof claim 7, wherein each photograph is associated with an index valuethat is sequentially assigned at the time of capture, and wherein eachopen chain and each closed chain is formed, at least in part, based onthe index value associated with each photograph.
 9. The computing deviceof claim 7, wherein the first collection of photographs and the secondcollection of photographs are received in combined collection ofphotographs.
 10. The computing device of claim 7, wherein the camera ismounted to a movable scanning apparatus, the movable scanning apparatusincluding a means for determining the camera's position, a means fordetermining the camera's orientation angle, and a means for determiningthe camera's field of view angle.
 11. The computing device of claim 7,wherein the processing unit is further configured to: combine thephotographs of each closed chain to produce a single photograph having afield of view up to and including 360 degrees, wherein at least oneclosed chain is replaced by its corresponding single photograph.
 12. Thecomputing device of claim 7, wherein each photograph has a 360 degreefield of view.
 13. A computer-implemented method for processing aninteractive virtual movie that simulates a user traversing and exploringa physical site comprising: receiving a first collection of photographs,each photograph in the collection of photographs acquired throughsequential route photography, wherein the sequential route photographyincludes moving a camera along a route, determining a camera position ora camera orientation angle for each photograph that each reset todefault values upon capture of each photograph, capturing eachphotograph at least when the camera position exceeds a predefineddistance value or the apparatus orientation angle exceeds a predefinedorientation value, and sequentially indexing each photograph upon beingcaptured; forming one or more open chains using the first collection ofphotographs acquired through sequential route photography, each openchain linking the photographs that were captured as the camera movedalong a common route; receiving a second collection of photographs, eachphotograph in the collection of photographs acquired through sequentialjunction photography, wherein sequential junction photography includesrotating a camera about a stationary physical location, determining afield of view angle for each photograph as the camera is rotated aboutthe stationary physical location, capturing each photograph at leastwhen the field of view angle exceeds a predefined rotation value, andsequentially indexing each photograph upon being captured; forming oneor more closed chains using the second collection of photographsacquired through sequential junction photography, each closed chainlinking the photographs that were captured while the camera rotatedabout a common physical location; compiling the interactive virtualmovie by linking one or more open chains to one or more closed chainsincluding determining, from among the photographs in each closed chain,a corresponding similar photograph in an open chain that meets one of acorrelation criteria including highest correlation or closest field ofview direction; and providing the open chains and closed chains to auser, wherein the user is allowed to view each photograph in the openchains and closed chains, and determine, from among the photographs ineach closed chain, a corresponding similar photograph in an open chainthat meets one of a correlation criteria including highest correlationor closest field of view direction.
 14. The computer-implemented methodof claim 13, wherein each photograph is associated with an index valuethat is sequentially assigned at the time of capture, and wherein eachopen chain and each closed chain is formed, at least in part, based onthe index value associated with each photograph.
 15. Thecomputer-implemented method of claim 13, further comprising: combiningthe photographs of each closed chain to produce a single photographhaving a field of view up to and including 360 degrees, wherein at leastone closed chain is replaced by its corresponding single photograph.